ABB IRB 1400, Product Manual

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4 Repair
4.7.4 Measuring play in axes 5 and 6
3HAC021111-001 Revision: B 97
4.7.4 Measuring play in axes 5 and 6
Axis 5
Axis 4 shall be turned 90
o
. The maximum accepted play in axis 5 is 4.7 arc.minutes when
loading axis 5 with a moment of 4.8 Nm in one direction, unloading to 0.24 Nm and start
measuring the play, loading in the other direction with 4.8 Nm unloading to 0.24 Nm and
reading the play. This correspond to play of 0.27 mm on a radius of 200 mm when the load is
F=40 N and 2 N on radius 120 mm. See Figure .
Measuring Play in Axis 5.
Axis 6
The maximum accepted play in axis 6 is 12.8 arc.minutes when loading axis 6 with a moment
of 4.2 Nm in one direction, unloading to 0.2 Nm and start measuring the play, loading in the
other direction with 4.2 Nm unloading to 0.2 Nm and reading the play. This correspond to a
play of 0.37 mm on a radius of 100 mm when the load is F=42 N and 2 N. See Figure .
Measuring Play in Axis 6.
F
200
120
35
100
F